Control system for an aerially moved payload

ABSTRACT

A system for transmitting data, images, and audio to and from an aerially moved payload, the system having one or more media converters for converting coax signals to fiber signals and at least two wave division multiplexers, one for combining two or more distinct fiber signals into a single fiber signal and one for splitting the two or more combined fiber signals back into two distinct fiber signals. The system also includes at least one line along which one or more of data, images, and audio may be transmitted to and from the aerially moved payload.

RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.13/600,558 entitled “Control System for an Aerially Moved Payload” filedAug. 31, 2012 which is a continuation-in-part of U.S. patent applicationSer. No. 13/471,924 entitled “Control System and Method for an AeriallyMoved Payload System” filed May 15, 2012; U.S. patent application Ser.No. 13/600,558 also claims priority to U.S. Provisional Application Ser.No. 61/529,697 entitled “Control System For A 3D Aerial Camera” filedAug. 31, 2011; U.S. Provisional Application Ser. No. 61/529,676 entitled“3D Aerial Camera System” filed Aug. 31, 2011; U.S. ProvisionalApplication Ser. No. 61/532,788 entitled “Digital Microphone and DigitalMicrophone Control System for an Aerially Moved Payload” filed Sep. 9,2011; U.S. Provisional Application Ser. No. 61/532,741 entitled “ControlSystem For An Aerially Moved Payload System” filed Sep. 9, 2011; and,U.S. Provisional Application Ser. No. 61/607,993 entitled “Aerial CameraSystem Having Multiple Payloads” filed Mar. 7, 2012—the contents of allof which are fully incorporated herein by reference.

FIELD OF THE INVENTION

The present invention is directed to a control system for sending andreceiving data from an aerially moved payload system, and moreparticularly from an aerial moved payload system having multiple payloaddevices.

BACKGROUND OF THE INVENTION

Aerial movement systems are useful in moving a payload, like for examplea camera, over large expanses such as football fields, basketballcourts, or even military testing sites. Examples of such systems whichmay be used to aerially move a payload may be found, for example, inU.S. Pat. Nos. 6,809,495; 6,873,355; 6,975,089; 7,088,071; 7,127,998;and, 7,239,106, and U.S. Publication No. 2011/0204197. While theremaining description may discuss these aerial movement systems withrespect to moving a camera or multiple cameras at times, it should beappreciated by those having ordinary skill in the art that the presentapplication, and all of the previously referenced patents may beutilized to aerially move any payload and is not limited to just imagingdevice like a camera or multiple cameras.

As described in various embodiments of the aforementioned patents,aerial movement systems having a payload, like for example a platformand/or a camera, typically include one or more lines (e.g., a cables,ropes, strings, cords, wires, or any other flexible materials) attachedto the payload. The one or more lines typically extend to the payloadfrom four or five support beams surrounding the surface over which thepayload traverses, and are controlled by one or more motor reels whichextend and retract each of the two to five lines attached to thepayload. The motor reels may be controlled using timers, softwarealgorithms, remote controls, or any means known in the art. As the linesare extended and retracted, the payload may be moved inthree-dimensions, i.e. in the x-direction, the y-direction, and thez-direction.

In order to control and transmit and receive data from the payload (i.e.audio and video signals, control signals), typically a data transmissioncable is extended and retracted with each of the one or more linesattached to, and used to control, the payload. The cables may be atleast partially connected to, or embedded in the lines, with each cablebeing coupled to a motor to allow for the extension and retraction ofthe cable at the same rate as the control lines as the payload traversesover a surface below. In such systems, for example, four cables may beextended to the payload, one with each of the four lines extended to thepayload. While utilizing four cables allows for the transmission of somedata to and from the payload, it severely limits the amount of datawhich may be transmitted, particularly when cameras or other imagingdevices are included in the payload. The limited ability of presentsystems to provide images and data severely limits the number of imagingdevices which may be included in the payload and the ability of thepayload to provide images capable of being merged to create stereoscopicor three dimensional images or varying images presenting differentinformation or images.

In view of the foregoing, it would be advantageous to provide a systemcapable of allowing additional data, and in particular additional imagesor image data, to be transmitted to and from an aerially moved payloadsystem.

The present invention is provided to solve these and other issues.

SUMMARY OF THE INVENTION

The present invention is directed to an improved control system foraerially moved payloads, the control system being capable ofaccommodating multiple payloads designed to capture and provide one ormore of audio, images, and/or data or other measurements orcharacteristics from the area about which the system traverses.According to one aspect of the invention, the system includes a platformor object capable of carrying multiple payloads, the platform or objecthaving at least one line (e.g., a cable, rope, string, cord, wire, orany other flexible material) attached thereto. The at least one line isconfigured to support and move the platform or object and any carriedpayloads. The at least one line is connected to and controlled by atleast one motor and reel combination, providing two- orthree-dimensional movement of the platform and any carried payloads. Theat least one motor and reel combination may be connected to at least oneobject located proximate an area about which the payloads are totraverse. Alternatively, the at least one motor and reel combination maybe located proximate at least one object, like for example a supportpost, located proximate an area about which the payloads are totraverse, and at least one sheave may be used to redirect and guide theat least one line to the platform. Each line may also includes a fiberoptic or coaxial cable or the like, capable of transmitting informationto and from the payload to a control center where any capture audio,images, or data is provided.

According to another aspect of the invention, in order to transmitincreased amounts of certain types of data from the payloads, like forexample video or images, sound, or measured or captured data signals,the control system may include one or more media converter and one ormore wave division multiplexers (“WDM”) for joining images and soundand/or data into multiplexed signals, converting images, sound, or datacaptured by the payloads to a fiber optic signal, multiplexing multiplejoined fiber optic signals, and transmitting them along a singletransmission line.

According to another aspect of the invention, rather than use a standardWDM, it is contemplated by the invention that one or more coarse wavedivision multiplexers (“CWDM”) may be used. CWDMs also function tocombine two or more fiber signals into a single signal, however, theCWDMs may take the additional step of actively resetting the frequencyof the fiber waves to combine the two or more fiber video waves onto asingle line.

According to another aspect of the invention at least one additional WDMor CWDM or de-multiplexer may be located at the control center whichreceives the signals and splits or de-multiplexes the joined fiber wavesback into individual fiber signals. Splitting the waves re-creates thetwo or more separate images, sound signals, and/or data signals,allowing each viewed or analyzed separately, or allowing each image tobe properly presented and merged to create one or more stereoscopic orthree-dimensional images and/or multiple two-dimensional images.

According to another aspect of the invention, at least one additionalmedia converter may be used by a control center to re-convert there-divided fiber signals to coax signals for use.

According to another aspect of the invention, audio captured by the oneor more payloads may be embedded into any images captured and providedto a control center along the fiber optic lines with any image feeds.

According to another aspect of the invention, the system may furtherinclude one or more modems and demodulators for transmitting data.Utilizing modems and demodulators allows data to be converted to audiosignals and then embedded into the video signals and recovered usingdemodulation at the receiving end.

Other advantages and aspects of the present invention will becomeapparent upon reading the following description of the drawings anddetailed description of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an aerially moved payload system contemplated by theinvention;

FIG. 2 shows an aerially moved payload system as contemplated by theinvention;

FIG. 3 shows a block diagram of an exemplary payload and control systemcontemplated by the present invention; and,

FIG. 4 shows a flow chart of the method of controlling the aeriallymoved payload.

DETAILED DESCRIPTION

While the present invention is susceptible of embodiment in manydifferent forms, there is shown in the drawings and will herein bedescribed in detail, preferred embodiments of the invention with theunderstanding that the present disclosure is to be considered as anexemplification of the principles of the invention and is not intendedto limit the broad aspect of the invention to the embodimentsillustrated.

FIG. 1 shows an embodiment of a system 10 for aerially moving a payload12. Payload 12 includes at least two payloads 14, 16 carried by platform18. Additional payloads may be carried by platform 18 as needed. Inorder to move payloads 14, 16 and platform 18 in the x-, y-, andz-directions, at least one line, shown as lines 20 a-20 d, are connectedto the platform in four locations, shown as corners 22 a-22 d. Coupledto and driving lines 20 a-20 d is at least one reel and motor, shown asmotor and reel combinations 24 a-24 d. Motor and reel combinations 24a-24 d act in conjunction with lines 20 a-20 d to move platform 18 andpayloads 14, 16 in the x-, y-, and z-directions. Lines 20 a-20 d maycontain, or have attached thereto, coaxial, optical, or other cablescapable of transmitting and receiving information to and between aremote location and payloads 14, 16. These lines may provide, forexample, any data, video, audio or signals collected or obtained bypayloads 14, 16, and provide control for moving platform 18 and payloads14, 16 in the x-, y-, and z-directions. In order to further facilitatemovement, sheaves 26 a-26 d may also be utilized to guide lines 20 a-20d between motor and reel combinations 24 a-24 d and platform 18.

Each motor may be hard wired to a control center or connected usingwireless signals, like for example RF signals. Signals may betransmitted from a pilot or other user at the control center using, forexample a computer and/or transceiver, to the motor and reelcombinations to control movement of the platform. The signals providedto the motor and reel combinations may additionally include controlsignals for the payload and any other components located on the platformused to capture and transmit any captured images, data, and/or sound.These additional control signals intended for use by the payload andrelated components located on the platform may be transmitted from themotor and reel combinations through any coaxial, optical, or othercables associated with lines 20 a-20 d.

Alternatively, as seen in FIG. 2, rather than traverse over an area, itis contemplated by the invention that aerial movement system 10 mayallow for payload 12 to traverse along side an area. As seen in FIG. 2,posts or pillars 28 may extend substantially parallel to and/or above aground surface or floor, allowing the payload to travel along side anarea to be recorded. In such embodiments movement may be limited to onlytwo directions, like for example the x- and z-directions. Configuringthe system in this manner allows the payload to travel along side anarea to obtain information when such is desirable or required.

Payloads 14, 16 and any additional payloads may include, but are notlimited to, standard- or high-definition cameras or any other knownimaging devices, cameras having zoom or prime lenses, analog or digitalmicrophones, spectrum analyzers or other devices capable of measuringfrequency or signal strength at the payload, thermometers or othertemperature sensing devices, pressure sensing devices, light intensityor wavelength sensing devises, wind speed and direction sensors, or anyother data collection devices capable of measuring a signal orcharacteristic of the area proximate which the payload is positioned totraverse. The at least two payloads may also include a position sensoror the like capable of providing information relative to the position ofthe sensor relative to the area over which the payload traverses, or,additionally or alternatively, the position of the payload relative tothe motors and reels and/or sheaves. Rather than provide a positionsensor on the payload, registration points 30 may be placed proximateeach line or support post used to guide each line to detect the positionof the payload.

According to one embodiment of the invention, at least two payloads 14,16 include at least two cameras or other imaging capturing devices to becarried proximate an area to be observed, photographed, broadcasted, orfilmed. Payloads 14, 16 and any additional payloads included in thesystem, may be, for example, lightweight video cameras containingstandard-definition, high-definition or prime lenses, 3D mini cameras,cameras containing any filter lenses to enhance or remove particularcolors from any images viewed and recorded or broadcast by the camera,infrared cameras or imaging devices, night vision cameras, thermalimaging devices, elevation or topography imaging devices, still-photocameras, motion sensing cameras which only capture and/or provide imageswhen detecting motion in the area over which the camera is located,high-speed or slow-motion cameras or any combination thereof. Inaddition to any of the aforementioned examples, the present inventioncontemplates payloads 14, 16 and any additional payloads being anydevice capable of capturing, broadcasting, recording, providing and/orfilming optical images, with the possibility of mixing and matching anyparticular camera, for example, a thermal imaging device and anelevation or topography imaging device or devices to map and measure thecharacteristics of a chasm or volcano.

Cameras used with the system may include standard-definition and/orhigh-definition lenses capable of zooming and focusing on a particulararea to provide two-dimensional images, or alternatively, may be primelenses capable of providing images along a particular line of sight,without capability of zooming or focusing on an area along that line. Ifthe cameras are configured to have a line of sight which intersects, theimages taken by each camera may be merged to create a stereoscopic orthree-dimensional image.

In order to provide the images captured by multiple cameras or imagingdevices, the captured images may be combined and transmitted to acontrol station through a fiber optic line embedded or attached to anyof lines 20 a-20 d. As shown in FIGS. 3 and 4, in order to combine theimages for travel through one of the fiber optic cables, images capturedby cameras or devices 100, 102 (step 200) which form part of the payloadmay be provided to media converters 104, 106 which may convert thecaptured images of each camera from a coaxial format to a light or laserof a particular wavelength, like for example approximately 1310 nm andapproximately 1550 nm (step 204) after any necessary audio and/or datasignals have been multiplexed with the images (step 202).

It is contemplated by the invention that a single media convertercapable of converting multiple signals from coax to light or laser maybe utilized in place of multiple media converters. In embodiments wheremore than two cameras are used, a media converter may be provided foreach camera, or, alternatively, the number of media converters requiredfor converting all coax signals to fiber signals may be provided.Regardless of the number of cameras, devices, or media converters, inorder for each camera and image capturing device signal to be properlytransmitted and decoded, each converted signal must be a fiber signalhaving a distinct wavelength. Continuing the example from above, it iscontemplated that if three cameras or devices are used, the third videosignal may be converted to a wavelength of 1430 nm, a fourth camera ordevice signal may be converted to a wavelength of 1670 nm and so on.Each converted signal should be provided with a distinct wavelengthsufficiently spaced from any other converted signal wavelength to allowfor easy detection and separation of each signal at a control centerreceiving the converted signals.

Once each camera or image capturing device signal is converted to alight or laser of a known wavelength, in order to transmit two videosignals back to the control center along a single line, one or more wavedivision multiplexers (“WDM”) or coarse wave division multiplexers(“CWDM”) 108 may be used to combine two or more fiber signals into asingle signal which is transmitted along a single fiber optic line 110(which may be run through sheave 112) from the payload to the controlcenter 114 (step 206). Combining the two or more video signals into asingle wave is advantageous inasmuch as it allows multiple video orimage signals to be transmitted from the payload to a control center ona single fiber or glass (step 208). The ability to transmit multiplevideo signals per fiber line or glass rather than only one signal perline allows for multiple imaging devices to be more easily used on asingle payload, like for example multiple cameras for providing 2Dand/or 3D images, an infrared camera, a thermal imaging device orcamera, and a night vision camera.

The combined images are transmitted along a fiber line until they arereceived at the control center 114 which process and utilizes the imagesas desired, i.e. providing images to a computer or system for use andanalysis or broadcasting and/or recording video footage. At the controlcenter, or at a stage prior to reaching the control center, the combinedconverted signals may be separated back into individual signals using asecond or additional WDMs or CDWMs or de-multiplexer 116 (step 210). Theconverted signals may then re-converted to their coax format in mediaconverters 118, 120 (step 212) before being utilized by control center114. If any audio and/or data signals have been multiplexed with theimages, the re-converted signals may be de-multiplexed (step 214) usingone or more multiplexors, de-multiplexors, WDMs or CWDMs to split theimages and audio and/or data. As on the platform, it is contemplatedthat any number of media converters may be used to separate the signals,so long as each individual fiber signal is returned to its coax state.Once re-converted the signals may then be utilized for analysis,storage, broadcast, or any other use desired. In some embodiments it iscontemplated that conversion from a fiber signal to a coax signal maynot be required if the fiber signal is usable by the control center inthat state.

In some embodiments, rather than convert coaxial signals to a fibersignal for transmission along a fiber optics lines, it is contemplatedby the invention that the coaxial signals may be converted toradio-frequency (“RF”) signals and wirelessly transmitted from theplatform to the control center. In such embodiments both the platformand control center may include a transceiver capable of transmitting andreceiving images, sound, and/or data at both the platform and controlcenter. In order to transmit and receive RF signals, both the controlcenter and the platform may include one or more media converters capableof converting coaxial signals to RF signals and RF signals to coaxialsignals. It should be appreciated by those having ordinary skill in theart that both means of communication between the control center andplatform may be used in a single system. For example, RF signals may beused to communicate from the control center to the platform and payloadswhile captured images, sound, and data are transmitted from the platformto the control center using fiber optic lines and fiber optics signalsor vice versa.

In order to control the cameras and provide instructions and data to,while at the same time receive data and feedback from the payload, it iscontemplated by the invention that both control center 114 and cameracontrols 122 on the platform may send data signals through a fiber opticcable connected to any of lines 20 a-20 d. It is contemplated by theinvention that in place of cameras, only sensors or other data gatheringtools may form each of the payloads used in the invention. The sensorsmay collect data regarding measurements and/or characteristics of aparticular area proximate which the payloads are set to traverse. Forexample, the payloads may include spectrum analyzers or other devicescapable of measuring frequency or signal strength, thermometers or othertemperature sensing devices, pressure sensing devices, light intensityor wavelength sensing devises, wind speed and direction sensors, or anyother data collection devices.

In addition to having combined video signals on a single optic or RFsignal, audio and/or data signals may be embedded or interweaved in thevideo signals using methods known in the art to allow for one cable toprovide both audio and video. For example, audio may be captured using adigital and/or analog microphone 124 and multiplexed with the imagescaptured by camera 100 prior to being converted to a fiber or RF signal.The combined A/V signal may then be converted to a fiber or RF signaland transmitted to the control center or multiplexed with additionalimages, video, or multiplexed A/V signals and then transmitted to thecontrol in the manner described herein. After being reconverted at thecontrol center, the A/V signal may be split back into its audio andvisual components using a de-multiplexer or WDM or CWDM 127 tode-multiplex the A/V signal. Audio from multiple microphones may beembedded into a single captured image or video.

Data captured by any sensors 128 included in the payload may beconverted to optic or RF signals for direct transmission to the controlcenter. Rather than direct transmission, data like sound, data capturedby sensors may be multiplexed with any captured image signals prior tomedia conversion in the same manner as captured audio signals.

In some embodiments, in order to provide data, both the control center(or a location proximate thereto) and the payload or any camera controlsystem located on the platform may include a modem 130 to modulate anddemodulate data signals to audio signals and modulated audio signalsback to data signals. Once modulated, the audio signals may be providedthrough a separate optics line, or alternatively embedded in an imagesignal, and provided to either the control center or on platform cameracontrols or payload. For example, data captured by any sensors 128located on the platform may be converted to audio using modem 130 andembedded with a captured or generated video signal in the same manner asaudio signals. Like audio signals, multiple modulated data signals maybe embedded into a single video, and multiple multiplexed A/V signalshaving audio data may be multiplexed into a single signal. In order toutilize modems and audio signals, each of the payload or camera controlson the platform, and the control center, may utilize a modem capable ofrecovering the data information for use. Any number of modems may belocated in the control center or on the platform as needed.

In embodiments where the payloads include only microphones or datacollecting devices, or where embedding with captured images and/or videosignals is not desired, in order to provide video signals for any dataor audio signals to be embedded, it is contemplated by the inventionthat a phantom video signal or phantom video signals may be created orgenerated. These phantom signals may be combined and transmitted alongthe fiber optic or other lines with embedded audio signals (regularaudio or converted data-to-audio signals) in substantially the samemanner as captured images. Rather than, or in addition to, utilizingcameras (100 and 102) and capturing video and/or images utilizing atleast two imaging devices (200), the phantom video generator maygenerate at least one phantom video signal and the payload microphonesand/or data collecting devices may collect sound or data to be embeddedin the generated phantom signals. The combined phantom video signals andany embedded sound and data may then be transmitted in substantially thesame manner.

The above described embodiments of the present invention are intended tobe examples only. Alterations, modifications and variations may beeffected to the particular embodiments by those of skill in the artwithout departing from the scope of the invention, which is defined bythe claims appended hereto.

I claim:
 1. A system for transmitting data, images, and audio to andfrom an aerially moved payload, the system comprising: one or more mediaconverters for converting coax signals to fiber signals; at least twowave division multiplexers, one for combining two or more distinct fibersignals into a single fiber signal and one for de-multiplexing the twoor more combined fiber signals back into two distinct fiber signals; atleast one line along which one or more of data, images, and audio may betransmitted to and from the aerially moved payload, the at least oneline for transmitting one or more of data, images and audio to and fromthe aerially moved payload being operatively associated with one or morelines used to maneuver the aerially moved payload.
 2. The system ofclaim 1 wherein at least one of the at least two wave divisionmultiplexers are coarse wave division multiplexers.
 3. The system ofclaim 1 further comprising at least one modem for converting datasignals to audio signals.
 4. The system of claim 3 further comprising atleast one demodulator for converting converted data signals back to datasignals.
 5. The system of claim 1 further comprising at least twocameras for gathering images, the at least two cameras forming part ofthe aerially moved payload and providing outputs to the one or moremedia converters.
 6. A method for transmitting data, images, and audioto and from an aerially moved payload, the method comprising the stepsof: capturing one or more of data, images, and audio using two or moreaerially moved payload devices; generating one or more video signals;converting the one or more video signals from coax signals to fibersignals; joining two or more fiber signals having different wavelengthsinto a single signal using one from the group consisting of: a wavedivision multiplexer and a coarse wave division multiplexer;transmitting the single signal over a fiber line, the fiber line beingoperatively associated with a line used to maneuver the aerially movedpayload; separating the joined fiber signal into two or more distinctfiber signals utilizing at least one from the group consisting of: awave division multiplexer and a coarse wave division multiplexer.
 7. Themethod of claim 6 further comprising the step of generating the one ormore video signals by capturing images using one or more camerasincluded in the two or more payload devices.
 8. The method of claim 6further comprising the step of generating the one or more video signalsusing a phantom video signal generator.
 9. The method of claim 6 furthercomprising the step of interweaving captured audio with at least one ofthe video signals using at least one multiplexer.
 10. The method ofclaim 6 further comprising the step of converting the two or moredistinct fiber signals to a coax signal after each of the two or moresignals are separated from the joined fiber signal.
 11. The method ofclaim 6 further comprising the step of transmitting data andinstructions to the at least two cameras utilizing the fiber line. 12.The method of claim 11 further comprising the step of converting thedata to an audio signal using a modem.
 13. The method of claim 12further comprising the step of demodulating the data-audio signal torecover the transmitted data.
 14. The method of claim 6 furthercomprising the step of transmitting data captured by the at least twopayload devices utilizing the fiber lines.
 15. The method of claim 14further comprising the step of converting the data to an audio signalusing a modem.
 16. The method of claim 15 further comprising the step ofdemodulating the data-audio signal to recover the transmitted data. 17.The method of claim 15 further comprising the step of interweaving theaudio with the one or more generated video signals.